import launch


def generate_launch_description():
    return launch.LaunchDescription(
        [
            launch.actions.ExecuteProcess(
                cmd=[
                    'ros2',
                    'bag',
                    'record',
                    '-o',
                    'onboard_lemniscate_v_0.4',
                    '/uuv02/odometry',
                    '/uuv02/ground_truth/odometry',
                    '/uuv02/odometry_naive',
                    '/uuv02/vertical_camera/image_raw/compressed',
                    '/uuv02/vertical_camera/camera_info',
                    '/uuv02/event_camera/events',
                    '/uuv02/event_camera/imu',
                ],
                output='screen',
            )
        ]
    )
